EP4141384A1 - Handgehaltene beobachtungsvorrichtung und verfahren zur erzeugung einer 3d-punktwolke - Google Patents

Handgehaltene beobachtungsvorrichtung und verfahren zur erzeugung einer 3d-punktwolke Download PDF

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Publication number
EP4141384A1
EP4141384A1 EP21194058.0A EP21194058A EP4141384A1 EP 4141384 A1 EP4141384 A1 EP 4141384A1 EP 21194058 A EP21194058 A EP 21194058A EP 4141384 A1 EP4141384 A1 EP 4141384A1
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EP
European Patent Office
Prior art keywords
target
pose
observation device
image
hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21194058.0A
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English (en)
French (fr)
Inventor
Franck SCOLARI
Holger Kirschner
Jakub OLEXA
Stefan Günther
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safran Vectronix AG
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Safran Vectronix AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Safran Vectronix AG filed Critical Safran Vectronix AG
Priority to EP21194058.0A priority Critical patent/EP4141384A1/de
Priority to IL310673A priority patent/IL310673A/en
Priority to PCT/EP2022/072468 priority patent/WO2023030846A1/en
Publication of EP4141384A1 publication Critical patent/EP4141384A1/de
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/04—Adaptation of rangefinders for combination with telescopes or binoculars
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/02—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices involving prisms or mirrors
    • G02B23/10—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices involving prisms or mirrors reflecting into the field of view additional indications, e.g. from collimator
    • G02B23/105—Sighting devices with light source and collimating reflector
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder

Definitions

  • the invention relates to a hand-held observation device comprising a laser rangefinder and to a computer-implemented method for obtaining a 3D point cloud of a remote object using such a hand-held observation device.
  • the invention relates to the field of hand-held military optronics devices, and provides a method for measuring a 3D point cloud as a representation of a target object without the need for beam steering means and based solely on the evaluation of sensors which are present in known handheld observation devices.
  • observation devices have diverse fields of application, for example in hunting, for landmark navigation on land or at sea, for aiming at objects, for acquiring and documenting geographic surroundings, as information device for hikers, etc.
  • such devices are also used in the military sector for navigation, observation, etc. It is important for the device to be robust, convenient, operable in a quick and simple manner, and as compact and as lightweight as possible and to have comparatively low power consumption.
  • the observation devices within the scope of the present invention are robust devices designed for use in the field. These devices often are not highly precise and usually have measurement resolutions of the order of meters or, at best, decimetres, but have measurement ranges of several kilometres, for example of up to five, ten or twenty kilometres or even more.
  • the observation devices are primarily designed for hand-held use by human operators, i.e., for example, as field glasses or binoculars, monocular telescopes, spotting scopes, etc., but can by all means be attached to a tripod or the like if necessary.
  • the observation devices treated here can particularly comprise an optically transmissive light channel, i.e. being conventional optical devices in terms of the basic function thereof, in which optical radiation is directed directly from the observed target object into the eye of the observer.
  • these can also be observation devices in which an observation image is recorded using a camera, the image is converted into electrical signals and the electrical signals are reproduced for the observer on a screen display.
  • the observation through an eyepiece, through which the recorded observation image can be observed can be brought about in the conventional manner.
  • the observation path can comprise optical elements for beam shaping, beam deflection, mirroring information in and out, amplifying residual light, etc.
  • this can relate to hand-held observation devices or distance-measuring observation devices which are generically embodied for use as a hand-held device, for example by appropriate handles, shaping, etc.
  • the optical targeting enabled by the observation device also determines the direction of the distance measurement.
  • the point to be measured is targeted by means of the transmissive light channel, for example with crosshairs in the observation channel of the device.
  • an optical signal for example as optical radiation in the form of laser light pulses, is emitted by the device in the direction of the target object, the distance of which is intended to be determined.
  • visible light is used in the process, the point on the target object targeted for measuring purposes can be identified visually in the case of appropriate light conditions.
  • non-visible wavelengths e.g. in the infrared spectral range, are often used and the point on the target object targeted for measuring purposes is determined for the user purely by targeting with the observation channel of the device.
  • the surface of the target object casts back at least a portion of the emitted optical signal, usually in the form of a diffuse reflection.
  • the cast-back optical radiation is converted into an electrical reception signal by a photosensitive detector element.
  • the distance between the device and the target object can be determined with knowledge of the propagation speed of the optical signal and on the basis of the determined travel time between emission and reception of the signal (i.e. the travel time which light requires for covering the distance from the device to the target object and back again).
  • there are one or more optical components for beam shaping, deflection, filtering, etc. - such as lens elements, wavelength filters, mirrors, etc. - in the optical transmission or reception path. Transmission and reception can be brought about coaxially using a single optical unit or separately using two separated optical units (e.g. arranged next to each other).
  • the distance meter or the rangefinder is integrated in the observation device.
  • the measurement requires sufficiently strong signal intensities, which can be detected by the receiver, of the returning reception signal.
  • the signal power that can be emitted from the optoelectronic LRF considered here is restricted by physical and regulatory limits. Therefore, the intensity amplitude of the emitted optical signal often is modulated in a pulse-like manner. Temporally short pulses with a high peak power are emitted, followed by pauses during which no light is emitted. Hence, the cast-back component of the pulses has a sufficiently high intensity to allow these to be evaluated in the presence of background disturbances and noise, in particular even in the presence of background light (sunlight, artificial illumination, etc.).
  • the measurement target does not have special reflective target markers for the measurement (as is conventional in measurement rods, measurement prisms etc. used in surveying)
  • the applied optical distance measurement signal must be embodied and set in the device design in such a way that a distance measurement is possible over the whole specified measurement range (or the range must be specified on the basis of the possibilities of the used signal).
  • the signal information from a plurality of pulses is used cumulatively (in particular in-phase) for the evaluation (multi-pulse LRF).
  • the signal-to-noise ratio (SNR) is improved in order thereby also to enable measurements in adverse conditions.
  • the user aims the observation device at a desired target and then triggers the distance measuring process, for example by actuating a trigger button or the like.
  • the measurement result, or further in-depth information derived therefrom, such as 3D coordinates are displayed to said user, preferably directly in the observation channel of the observation device.
  • the observation device can be equipped with means for determining geographic coordinates, such as a GNSS antenna, a constellation identifier, a direction measuring unit, a compass unit, tilt sensors or accelerometers, a night vision function, etc.
  • a GNSS antenna for example, a GNSS antenna
  • a constellation identifier for example, a direction measuring unit
  • a compass unit tilt sensors or accelerometers
  • a night vision function etc.
  • an electronic display for providing information, it is possible, for example, to provide to the user in the transmitted light channel an image from a camera, location information, for example in the form of a map, measured distances or directions, stored information in respect of a sighted target object, temperature and weather information using the electronic display.
  • location information for example in the form of a map, measured distances or directions, stored information in respect of a sighted target object, temperature and weather information using the electronic display.
  • the observation device may, in a modified embodiment, be equipped with e.g. a night vision
  • Generic handheld observation devices are commonly used for military purposes and related applications, e.g. for use in police operations. Such devices include cameras with long-focus lens to observe distant objects and/or use telescopic sight for the purpose. Supporting sensors are included in such observation devices, comprising, e.g. GNSS, digital compass, IMU.
  • a laser rangefinder allows measurement (e.g. using time-of-flight (TOF) principles) of a distance to remote target objects. In a military purpose, this distance may be used, e.g., to calculate fall of shot for indirect fire or coordinates for close air support.
  • Such handheld observation devices preferably are ruggedized, lightweight and as small as possible to not be a burden during troop movement or manoeuvre. Directly related is the need for low power consumption, as otherwise the handheld observation device would need to be equipped with large and heavy batteries to guarantee device operation during mission.
  • a scanning laser range finder to obtain 3D models of remote objects is the base of laser-scanner technology.
  • a laser scanner actively moves a laser range finder beam in a scanning motion over a target object to obtain a multitude of measured points of the target object's surface.
  • a beam steering means e.g.
  • a handheld observation device should be able to perform laser rangefinder (LRF) measurements, wherein manual changes of a pose of the LRF is continuously tracked by a pose measurement means of the device.
  • LRF laser rangefinder
  • a laser eye-safety class 1 is mandatory for the LRF. On the one hand, this prevents accidents on own troops when using the device. On the other hand, this allows securely performing the observations without being easily spotted.
  • the widespread use of observation devices or telescopes in the field prevents laser class 1M
  • the mandatory invisibility of the laser prevents laser class 2.
  • LRF range precision and short measurement time (high repetition frequency) can be fulfilled, for example, by combining single mode laser with small divergence based on fibre technology.
  • An alternative to the scanning LRF laser over the target object is the Range Imaging (RIM) technology, where the target is illuminated by a single LRF emitter and the reflected signal is received by a raster of LRF receivers (RIM pixels) each having a disjunct reception angle.
  • RIM Range Imaging
  • a single illumination pulse provides the energy for all LRF receivers' 3D measurements and the pulse energy is distributed among the different receivers' reception angles.
  • US 5,859,693 discloses a modularized laser-based survey system which comprises an LRF module which can be fixed with an angle encoder module to a reference point. While the handheld observation device could be used as LRF module and fixed with an angle encoder to a tripod (reference point), the need of such extra equipment (tripod, angle encoder) again objects the aim for multipurpose low weight small size equipment, e.g. for military purposes such as mobility of troops.
  • a similar system is disclosed in WO 2001/75396 A1 . Both publications optionally allow measuring the orientation of the LRF device internally with magnetic compass and/or gravity sensor.
  • the system disclosed in WO 2006/81889 measures the distance between two remote 3D target points on a plane (e.g. on a wall).
  • the user moves the hand-held device between the two points and the LRF performs distance measurements with a high repetition rate.
  • the pose of the device is not measured and there is no (direct) angle measurement.
  • Similar systems are disclosed in DE 19 836 812 and DE 10 253 669 A1 .
  • the method is limited to measurements on planes, and for this measurement only the two or three extremal points of the point cloud are evaluated.
  • the LRF laser emits in the visual wavelength band for the user to be able to see the laser beam and thereby control the manual movement of the beam.
  • the high repetition rate LRF measurements are started and stopped by the user at the two 3D target points and the number of performed excess 3D measurements depends on the swift and precise movement of the user.
  • Such emission of visual radiation however is disadvantageous for many applications, e.g. for hunting or military-use handheld observation devices, because it reveals the presence and position of the observer.
  • Even emission of non-visual NIR radiation is omitted, because that can be detected even with simple devices such as mobile phone cameras.
  • the military LRF emission is shifted to IR bands (e.g. SWIR) where detection with a silicon based CCD or CMOS camera is prohibited (the Si bandgap energy limits detection to wavelength of less than 1100nm).
  • any excess LRF emission should be omitted, since targets such as armoured vehicles, tanks or helicopters are often equipped with devices dedicated for detection of hostile LRF measurement (laser warning receiver, e.g.
  • EP 2 659 288 discloses a handheld laser distance measurement device which uses active beam steering means in only one direction (one degree of freedom).
  • the beam movement, provided by the beam steering means generates a visual laser fan which is visible to the user.
  • the user thus is enabled to manually scan the fan over the target object.
  • the manual movement of the user is measured by a pose measurement of the handheld device. From LRF measurement and pose measurement, the 3D target points are calculated.
  • the visual LRF is visible not only by the user and thus prevents military applications.
  • there are no means for omitting excess measurements e.g. double measuring of the same target point or measuring to target points which are of no interest.
  • the method needs active beam steering means to be integrated into the device.
  • US 9,285,481 discloses a wearable object locator and imaging system which uses a camera image combined with a LRF measurement and a pose measurement to generate 3D measurements.
  • the pose measurement is performed by a second camera, which evaluates the image of a reference target dedicated for the pose measurement.
  • the use of a dedicated fixed reference target for pose estimation is cumbersome. Therefore the patent describes a variant where the reference target is fixed at the users wear. The precision of such pose measurement is not very high and the method limited to documenting close range scenes.
  • WO 2015/66319 describes a system and method for measuring by laser sweeps which combines an inertial measurement unit (IMU) with a laser range finder to measure a 3D point cloud.
  • IMU inertial measurement unit
  • the IMU pose measurement can be supported by a dynamic model adapted to the user's body geometry.
  • LRF measurements are started by the user before moving the handheld device and stopped by the user when the movement is finished and, again, excess measurements are not prevented and the completeness/density of point cloud information cannot be guaranteed.
  • an emission of the laser into forbidden sections of the field of view e.g. a military laser warning receiver
  • EP 3 196 593 A1 discloses a generic hand-held device comprising a stabilization functionality for the laser rangefinder in order to compensate movements such as hand jitter.
  • Hand jitter can be due to physiologic tremor, i.e. a trembling of the hand with a usual frequency of about ten times per second.
  • Physiologic tremor occurs in normal individuals, especially when they are stressed by anxiety or fatigue. It may occur in an enhanced form as a pathological symptom of conditions such as hyperthyroidism or stimulants such as caffeine. It would be desirable to have a device that allows high precision handheld point cloud measurement despite hand jitter.
  • a further object of the invention is to provide additional flexibility for the user and/or for upgrading generic observing devices with minimal technical outlay.
  • a first aspect of the present invention pertains to a hand-held observation device comprising:
  • the digital processing unit of the hand-held observation device is configured
  • the digital processing unit is further configured
  • the digital processing unit is further configured
  • the images captured by the camera are an image stream
  • the images displayed on the display unit are live images.
  • the 3D target point coordinates are stored in the memory together with pose data relating to a pose of the hand-held observation device at the time of the measurement of the distance between the observation device and the respective target point.
  • the digital processing unit is configured to trigger displaying, on the display unit, a reticle indicating a measurement axis of the laser rangefinder unit in the image and/or instructions for the user to aim the hand-held observation device to a region with missing 3D target point coordinates.
  • the digital processing unit is configured
  • the "near future" particularly is a time span that does not exceed the next second, for instance includes the next tenth or hundredth of a second.
  • said pose-prediction functionality comprises
  • said pose-prediction functionality comprises
  • the digital processing unit is configured to perform a forbidden-region-detection functionality.
  • the military target comprises laser beam detection means that are configured for detecting a laser beam emitted by the laser rangefinder unit, particularly wherein the laser beam detection means is configured to determine a position of the hand-held observation device based on the detected laser beam.
  • This forbidden-region-detection functionality comprises
  • a range measurement of the LRF unit to the forbidden region is then automatically prevented.
  • identifying the forbidden region comprises using image recognition by the digital processing unit. In some embodiments, identifying the forbidden region comprises displaying an image of the target and receiving a user selection of an image position as the forbidden region. In one embodiment, identifying the forbidden region comprises using image recognition by the digital processing unit, displaying an image of the target overlaid with a marker for an identified forbidden region, and receiving a user selection of an image position as the forbidden region.
  • the 3D target point coordinates are stored in the memory as a point cloud
  • a database with 3D data of a plurality of different target kinds is stored in the memory
  • the digital processing unit is configured to analyse the point cloud to recognize the target kind of the remote target.
  • the digital processing unit is configured to effect display of information about the determined target kind on the display unit.
  • analysing the point cloud comprises calculating a best match.
  • the digital processing unit is further configured to analyse the point cloud to determine a pose of the determined target, and particularly to effect display of information about the pose on the display unit.
  • the plurality of different target kinds is or comprises a plurality of different military target kinds, e.g. armoured vehicle kinds
  • at least a subset of the plurality of different military target kinds comprises laser beam detection means that are configured for detecting a laser beam emitted by the laser rangefinder unit
  • the 3D data includes a 3D position of the respective target kind's laser beam detection means
  • the digital processing unit is configured to analyse the point cloud to determine a pose of the target, and the determined 3D coordinates of the forbidden region are corrected based on the determined pose of the target and the 3D position of the laser beam detection means on the target kind.
  • a second aspect of the invention pertains to a computer-implemented method for obtaining a 3D point cloud of a remote object using a hand-held observation device comprising a laser rangefinder (LRF) unit, for instance a hand-held observation device according to the first aspect of the invention.
  • the method comprises
  • the method further comprises
  • the method further comprises
  • the method comprises displaying a reticle indicating the measurement axis of the LRF unit in the image.
  • the method comprises displaying instructions for the user to aim the hand-held observation device to a region with missing 3D target point coordinates.
  • the method further comprises
  • the method comprises
  • the method comprises
  • the method comprises
  • identifying the forbidden region comprises using image recognition and/or displaying an image of the target and receiving a user selection of an image position as the forbidden region.
  • identifying the forbidden region may comprise using image recognition, displaying an image of the target overlaid with a marker for an identified forbidden region, and receiving a user selection of an image position as the forbidden region.
  • the 3D target point coordinates are stored as a point cloud and the method further comprises comparing the point cloud with 3D data of a plurality of different target kinds provided in a database to recognize a target kind of the remote target and displaying information about the determined target kind together with an image of the target.
  • recognizing the target kind of the remote target is also based on the image data.
  • the method comprises analysing the point cloud to calculate a best match, and/or to determine a pose of the determined target.
  • a third aspect of the invention pertains to a computer programme product having computer-executable instructions for performing, for instance when executed on a digital processing unit of a hand-held observation device according to the first aspect of the invention, the method according to the second aspect.
  • Figures 1a and 1b show an exemplary embodiment of an observation device 10 according to the invention.
  • Figure 1a shows the device 10 schematically and in a sectional view
  • Figure 1b shows an exterior view of the device 10.
  • the depicted observation device 10 comprises a rugged portable housing 19 that is designed to be held in one or two hands of a user during use of the device, i.e. during observation of a remote target.
  • the observation device 10 further comprises - rigidly fixed and integrated into the housing - a laser range finder (LRF) 11, a camera 12, a pose detection unit 13, a digital processing unit 16, a memory 17 for storing programme data, parameter data and measurement data, a display unit 14 to display image and measurement data to a user of the device, and a user input device 15 to receive user inputs.
  • LRF laser range finder
  • the observation device 10 further comprises - rigidly fixed and integrated into the housing - a laser range finder (LRF) 11, a camera 12, a pose detection unit 13, a digital processing unit 16, a memory 17 for storing programme data, parameter data and measurement data, a display unit 14 to display image and measurement data to a user of the device, and a user input device 15 to receive user inputs.
  • LRF laser range finder
  • the pose detection unit 13 may comprise an inertial measuring unit (IMU), a magnetic compass and similar devices that - alone or in combination - allow determining a pose of the device 10, e.g. in at least three degrees of freedom, and optionally also including the position of the device 10, e.g. in six degrees of freedom.
  • IMU inertial measuring unit
  • the laser range finder 11, the camera 12 and the pose measurement unit 13 are calibrated to a fixed relative pose and to a fixed pose relative to the portable housing 19.
  • the LRF 11 comprises an infrared (IR) laser (e.g., solid-state laser, fibre laser, diode laser), and one or more receiver elements able to resolve low photon fluxes (Pin-diode, APD, DAPD, SPAD, DASPAD), favourably mounted rigidly to an optical bench, and signal processing means to measure/calculate the distance. It is configured to emit a laser beam 18 along an emission axis onto a remote target object 20 and to receive reflections of that laser beam from a surface of the target object 20. Based on time-of-flight (TOF) principles, a distance to the object 20 can be calculated and provided as measurement data.
  • the LRF 11 preferably works with a military apt invisible infrared (IR) class 1 laser.
  • the digital processing unit 16 reads the camera image and effects displaying the camera image on the display unit 14 with the possibility to add overlay information, e.g. measurement data provided by the LRF 11. Via the user input device 15 the user is enabled to select a measurement function, e.g. from a list of possible measurement functions.
  • a measurement function is the determination of a 3D point cloud as a representation of the target object 20.
  • the distance between camera 12 and LRF laser beam axis is small and can be neglected for target distances that are relevant for observation purposes, e.g. for distances of more than 100 metres.
  • the system might be reduced to a coaxial system where the camera 12 and LRF laser beam axis and/or LRF receiver axis share some lens elements and a coincidence of camera center and LRF laser beam and/or LRF receiver axis can be provided.
  • the user aims the device at the target object 20 and the LRF 11 performs a range measurement to a first target point 21 on the target object 20.
  • the digital processing unit 16 receives measurement data about the measured range and receives pose data from the pose measurement unit 13. It calculates the 3D coordinates of the first target point 21 with respect to a fixed coordinate system, i.e. a coordinate system that is internal to the observation device, and stores these coordinates in its memory 17.
  • the memory may be any suitable computer memory or data storage type, e.g. a volatile or non-volatile memory.
  • the camera 12 may comprise a sensor (e.g. an MCT or InGaAs based image sensor) that is able to detect the wavelengths of the laser emitted by the LRF 11.
  • a sensor e.g. an MCT or InGaAs based image sensor
  • a possible misalignment between camera 12 and LRF 11 can be detected and a system recalibration of the relative pose can be performed.
  • the LRF 11 may comprise a receiving array (e.g. a receiver line or receiver matrix) comprising several receiving elements (e.g. pin-diodes, APD, SPAD, DAPD, DASPAD).
  • a receiving array e.g. a receiver line or receiver matrix
  • several receiving elements e.g. pin-diodes, APD, SPAD, DAPD, DASPAD.
  • the hand-held observation device 10 may comprise a monocular optical system with a single observation channel, or a binocular optical system comprising a first and a second binocular observation channel.
  • the observation channels are configured for receiving optical light rays and imaging these on an image plane for optical observations by an eye of the user.
  • the display unit 14 optionally may be integrated into the observation channel.
  • the laser rangefinder unit 11 may comprise a laser transmission channel and a laser receiver channel coupled into these observation channels.
  • Figure 2 shows a resulting image 22 of the target on the display unit 14 with a reticle (crosshairs) 30 and a representation marker 31 of the first target point 21 as overlay information.
  • the reticle 30 marks the present direction of the LRF emission axis in the camera image for the user to aim at the distant target object. Due to the negligible distance between the camera 12 and the LRF emission axis, for relevant observation distances, the image position of the reticle 30 is approximately independent of the distance between the observation device and the target object.
  • Figure 3a shows an image of the target on the display unit 14 after these distance measurements have been repeated again and again, so that more and more 3D target points are obtained as a 3D point cloud 33 which as well are drawn in an augmented reality operation as image overlay to the display unit.
  • the point cloud 33 is not dense, there is a gap 34 of wanted 3D target points in the centre of the point cloud 33. Such a lack of target points in a certain area may occur due to imprecise user movement.
  • the digital processing unit 16 recognizes such gaps in the data and the user can be informed, e.g. on the display 14, to direct the LRF emission axis represented by the reticle 30 toward such gap regions 34 to complete the data.
  • hand jitter of the user may pose a limit to such manual scanning and leads to poor data precision.
  • instabilities and movements of the device 10 as a result of being held in the hand are to be expected, especially in the form of oscillations or oscillation-like movements as a result of trembling, swaying or twitching of the user.
  • This human hand tremor (“hand jitter”) typically has amplitudes in the range of approx. ⁇ 1mrad to ⁇ 15mrad and jitter frequencies in the range from 0Hz to approx. 20Hz, which has a clear visible effect, particularly in the case of faraway targets and high magnifications.
  • a dynamic model e.g. Kalman filter
  • jitter dynamics estimates the dynamic parameters of the system to be able to predict LRF pose at short-term future time points. If the predicted (i.e. short-term future) LRF direction is within the gap region 34, the LRF measurement is automatically triggered with an adjusted delay, so that the result then fills exactly the gap 34 in the point cloud 33.
  • an adaptive system e.g. a neural network
  • learn the user's hand movement dynamic to obtain an enhanced prediction model for the pose of the observation device.
  • a high measurement precision of the pose measurement unit is essential.
  • a sufficiently high precision can be achieved by a navigation grade IMU and further improved by a combination of IMU and camera.
  • the pose measurement unit can use the image of the observation device camera and/or comprise its own camera dedicated for the pose measurement process.
  • the pose measurement unit can further include a GPS receiver and/or a digital magnetic compass and/or gyro compass.
  • the resulting point cloud 33 can be further processed e.g. by fitting geometric primitives like planes or spheres to the point cloud to reduce the amount of 3d data and/or to enhance the precision of 3d coordinates of the target or parts of the target.
  • Especially statistic evaluation of point cloud distance data can be beneficial, if combined with the corresponding measured pose data, to enhance distance precision for parts of the target object. To save processing time this can be started even if the measurement process of the point cloud is still running.
  • Figure 4 illustrates the automatic omission of forbidden regions when capturing a point cloud 33. This is useful in case of a measurement function to a remote target which comprises a laser warning receiver or other areas in the field of view of the measurement to which measurements must be prevented.
  • the method starts with the capturing a first image of the target object by the camera and measuring the first pose at the exposure time of the first image by the pose measurement unit.
  • the user is presented the first image as a still image on the display unit 14 and manually selects a forbidden region 35 (or a plurality of regions) where measurement must be prevented.
  • This forbidden region 35 is symbolized in Figure 4 as a rectangular frame.
  • the image, the respective pose and the forbidden regions are stored for later use.
  • the measurement process continues and the user moves the LRF axis - represented in the image by reticle 30 - over the target object.
  • a dynamic model is used to predict the pose of the observation device at short-term future time points due to hand jitter.
  • the predicted observation device pose is used to calculate from the actual LRF axis direction a simulated image position in the first image by using the first pose and the camera calibration.
  • the simulated image position is compared with the stored forbidden regions 35. If the simulated image position is within a forbidden region 35, the LRF measurement is prevented and no laser light is emitted to that region.
  • the resulting point cloud 33 has a gap in the forbidden region 35, since measurements to this region were prevented.
  • the same strategy can be used to select regions of interest in the first image instead of forbidden regions, thereby restricting LRF measurements only to those regions of interest.
  • regions of interest or forbidden regions can be set automatically (i.e. without user interaction), for instance with a state-of-the-art image segmentation routine evaluating the first image.
  • a contour analysis can be applied to reconstruct the limits of the target object, to prevent measurements which do not hit the target object but would - undesirably - illuminate the background or hit a forbidden region.
  • Measurements to moving target objects can be performed by image segmentation selecting and tracking the region of interest (target object region) in the subsequent images/measurements.
  • the target object pose change is determined from point correspondences on the target object region and the measured 3D coordinate can be transformed to a coordinate system fixed on the target object.
  • Such measurements to moving target objects are of great interest for ballistic calculus.
  • the selected measurement function can be completed without double measuring to the same target point as the LRF measurement is only automatically triggered if the measurement is actually needed. In some cases, omitting such multi-exposure advantageously allows for a higher class 1 product laser pulse energy with benefit to LRF measurement range and precision.
  • An individual multi-pulse LRF measurement can be splitted into several multi- or few-pulse measurements based on the pose system information.
  • an external 3D model of the target object may be loaded via interface from an external data source to the memory means 17 and used by the digital processing unit for controlling the triggering of the LRF measurement.
  • the target object may be a military vehicle (e.g. tank) comprising LRF sensors, i.e. laser receivers that can register a measurement and initiate countermeasures.
  • LRF sensors i.e. laser receivers that can register a measurement and initiate countermeasures.
  • a 3D model of this target object can be used which includes the location of the LRF sensors at this vehicle.
  • This 3D model can then be used to perform a measurement of a point cloud 33 of parts of the vehicle, thereby excluding those regions 35 in which the LRF sensors are located.
  • the point cloud 33 can then be fitted to the 3D model of the target to precisely determine the pose of the vehicle. This pose is then used e.g. as input for ballistic calculus.
  • the 3D model may be selected manually by the user from the database or be automatically recognized. For instance, the automatic recognition can be based on the camera image. Additionally or alternatively, a point cloud of an initially unrecognized target object can be analysed automatically and compared to the 3D models in the database to determine the kind of object of select the best match as 3D model. This model can be presented to the user on the display unit. Analysing the 3D point cloud optionally can be done together with a temporal shape (non-localized 3D information within the receiving element of the LRF) of the received pulse. As an alternative for the external 3D model of the target object, the 3D model of the target object can be set up based on 3D measurements performed by the observation device 10.
  • a first exemplary embodiment of a method 100 for obtaining a 3D point cloud of a remote object 20 using a hand-held observation device is illustrated.
  • the method can be performed at least partially by a computing means, e.g. a digital processing unit, of the used hand-held observation device (computer-implemented method).
  • the used device comprises a laser rangefinder (LRF).
  • LRF laser rangefinder
  • the hand-held observation device can be embodied as the device described with respect to Figures 1a and 1b , and the method 100 may be performed automatically by the digital processing unit of said device.
  • the method 100 starts with receiving 110 a measurement request from a user of the hand-held observation device via a user-input device.
  • Image data of a targeted remote target is received 120 from a camera of the hand-held observation device.
  • pose data of the hand-held observation device is continuously received 130 from a pose detection unit of the hand-held observation device.
  • the LRF is triggered 140 to perform a number of range measurements to target points on the remote target, and, consequently, range-measurement data is received 150 from the LRF.
  • 3D coordinates of each of the target points are calculated 160 and stored in a memory unit of the hand-held observation device, e.g. in the form of a 3D point cloud.
  • an image of the target may be displayed 125 to the user on a display unit of the hand-held device.
  • the displayed image can be a live image based on images continuously captured by the device's camera.
  • the displayed image comprises information regarding the measurements to the target points. As illustrated in Figures 2 to 4 , this information may comprise target point markers overlaid with the image. Therefore, the method optionally comprises calculating, based on the pose data, image positions for a plurality of stored 3D target point coordinates and displaying the markers at the calculated image positions to represent the measured 3D target points.
  • the displayed image may also comprise a reticle indicating a current position of the measurement axis of the LRF.
  • the stored 3D target point coordinates are compared with the user's measurement request to determine 170 whether there are gaps in the point cloud, i.e. one or more regions at the remote target, which in view of the measurement request still have no or an insufficient number of measured target points. If there are no gaps, the user's measurement request is fulfilled and the method 100 ends and is repeated when another measurement request is received 110.
  • the pose of the observation device is continuously monitored 180 using the pose data continuously received 130 from the pose detection unit. Based on said continuously monitored pose, it is then automatically detected 190 when an emission axis of the LRF aims at one of the determined gaps. If the emission axis is within such a gap, an additional range measurement of the LRF is automatically triggered 140, so that additional 3D target point coordinates in the gap are determinable. This can be repeated until all gaps are automatically filled with 3D point coordinates. If the emission axis is not aiming at a gap region, the method continues with continuously monitoring 180 the pose until it is detected 190 that the emission axis of the LRF aims at a gap.
  • the user may be guided to move the measurement axis towards these regions, i.e. by aiming the device at the gaps.
  • This may comprise displaying 128 instructions together with the displayed 125 image, e.g. optical signals such as arrows indicating a direction towards the gap or an optical accentuation of the gap itself.
  • Another option for guiding the user to fill the gap regions is a haptic feedback or an acoustic feedback performed by the user input device 15 whenever a gap region is filled.
  • Figure 6 illustrates a second exemplary embodiment of the method 100'.
  • the method comprises the steps 110 to 170 of the method 100 of Figure 5 and additionally a pose prediction functionality 200.
  • Said pose prediction functionality 200 comprises using the pose data continuously received 130 from the pose detection unit to continuously monitor a pose of the observation device.
  • the pose prediction functionality 200 further comprises predicting 230 a pose of the observation device for a point in the near future based on the continuously monitored pose and using a dynamic model of the system, e.g. a Kalman filter.
  • a pose in the near future of the observation device is continuously monitored 185 using the predicted 230 pose of the pose prediction functionality 200. Based on said continuously monitored future pose, it is then automatically detected 195 when an emission axis of the LRF is about to aim at one of the determined gaps. If the emission axis is about to aim at a gap, an additional range measurement of the LRF is automatically triggered 140 with a delay, so that additional 3D target point coordinates in the gap are determinable. This can be repeated until all gaps are automatically filled with 3D point coordinates. If the emission axis is not about to aim at a gap region, the method continues with continuously monitoring 185 the future pose until it is detected 195 that the emission axis of the LRF is about to aim at a gap.
  • the near future in this regard particularly means a time span between some 10 microseconds and some 100 milliseconds in the future, depending i.a. on the sensitivity of the pose detection, the speed of the used algorithms and the time needed for triggering the LRF measurement.
  • the point in the near future particularly is thus a point in time that lies within the next second, for instance more specifically within the next tenth or hundredth of a second.
  • the dynamic model is thus preferably optimized on hand-jitter dynamics and can be used to estimate dynamic parameters of the device effected by a tremor of the user's hand, so that the prediction 230 of the pose is based on the estimated dynamic parameters.
  • the hand jitter may be detected and continuously monitored 210 based on the received 130 and continuously monitored pose data.
  • an adaptive system e.g. a neural network, can be used to learn a hand movement dynamic of the user's hand to obtain 220 an enhanced prediction model for the pose of the observation device, i.e. so that the prediction of the pose 230 includes predicting the hand jitter.
  • Figure 7 illustrates a third exemplary embodiment of the method 100".
  • the method comprises the steps 110 to 190 of the first embodiment of the method 100 of Figure 5 and additionally a forbidden-region detection functionality 300.
  • This functionality allows detecting forbidden regions on the remote target, i.e. regions to which no LRF measurements must be performed.
  • image data of the target e.g. of a first image of the target
  • pose data of the device is received 130, i.e. for the pose of the device when capturing the first image.
  • the image data and the pose data are stored together.
  • a forbidden region on the target is identified 310 using the image data.
  • a forbidden region may be a laser warning receiver on the target or elsewhere in the field of view. Identifying 310 the forbidden region may be performed automatically by a digital processing unit of the observation device, e.g. using image recognition algorithms and a database with images of known laser warning receivers or other structures or surfaces to which measurements must be prevented.
  • the user is presented the first image as a still image on a display unit of the device and identifying 310 the forbidden region comprises a manual selection of the forbidden region in the image.
  • the user may be presented the first image together with overlaid markings of suspicious regions that the digital processing unit has identified as possible forbidden regions, and the user may select or unselect the suspicious regions as forbidden regions.
  • the image, the respective pose and the identified 310 forbidden region are stored. Based on the image data, pose data and image position of the identified 310 forbidden region, it is possible to back-project the forbidden region and transform 320 the forbidden region to 3D data.
  • a pose of the device Based on the received pose data, a pose of the device, and thus a direction of the measurement axis of the LRF, are continuously monitored 330.
  • step 190 it is determined that the measurement axis aims at a gap, this does not lead to immediately triggering an additional LRF measurement, but first to determining 340, whether the measurement axis is aimed at a forbidden region.
  • the forbidden-region detection functionality 300 may be combined with the pose-prediction functionality 200 of the second embodiment. For instance, it may then be determined whether the measurement axis is about to aim at a forbidden region, and the LRF measurement is prevented for a point in the near future.
  • Figure 8 illustrates a fourth exemplary embodiment of the method 100'''.
  • the method comprises the steps 110 to 190 of the first embodiment of the method and additionally a target-recognition functionality 400.
  • the method 100''' also comprises the pose-prediction functionality 200 and/or the forbidden-region detection functionality 300, described with respect to Figures 6 and 7 , respectively.
  • the target-recognition functionality 400 relates to automatic target recognition comprising recognizing a kind and pose of the target.
  • forbidden regions on the target to which regions no LRF measurements must be performed can be recognized.
  • 3D target point coordinates determined in step 160 are provided in a memory of the device as a point cloud and can be obtained 410 by the digital processing unit of the hand-held device. Also image data of the target received from the camera in step 120 can be used 420 by the digital processing unit. Additionally, 3D data of a plurality of different target kinds is provided in a database and can be retrieved 430 by the digital processing unit.
  • the target kind of the remote target needs to be determined. This may involve user interaction, i.e. the user may recognize the target kind and select it from the database. This may also involve image recognition by the digital processing unit using 420 the image data of the target. Also, a complete or partial point cloud of the remote target may be obtained 410 and compared with the retrieved 3D data of known target kinds to recognize the target kind of the remote target. Optionally, also other data, such as IR image or sound data may be captured of the remote target, retrievable from the database and used for recognizing the target type. The best match or a selection of candidates may be provided to the user.
  • the point cloud and the 3D data of the plurality of different target kinds determine 450 an actual pose of the remote target, e.g. if the target is a vehicle, for instance a military vehicle such as a tank.
  • the determined pose can be provided to the user. If the target is moving, the determined pose may be tracked, e.g. based on the image data.
  • the 3D data of the plurality of different target kinds may comprise information about the locations of regions on the targets that are forbidden for LRF measurements, e.g. comprising LRF sensors.
  • a position of one or more of those forbidden regions at the remote target is then retrieved from the database, and, based on the continuously monitored pose, range measurements of the laser rangefinder unit to the forbidden regions are automatically prevented.
  • this step may be combined with the forbidden-region detection functionality 300.
  • the identified forbidden region may then be corrected 460 using the exact pose of the target and the exact position of the forbidden region on the identified target type.
  • the correction 460 e.g. may include adding forbidden regions (e.g. previously undetected or hidden forbidden regions), removing erroneously assumed forbidden regions, or more accurately defining the borders of the forbidden regions.
  • the method may continue with this functionality, e.g. with the step of transforming 320 the forbidden region to 3D data.
EP21194058.0A 2021-08-31 2021-08-31 Handgehaltene beobachtungsvorrichtung und verfahren zur erzeugung einer 3d-punktwolke Pending EP4141384A1 (de)

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EP21194058.0A EP4141384A1 (de) 2021-08-31 2021-08-31 Handgehaltene beobachtungsvorrichtung und verfahren zur erzeugung einer 3d-punktwolke
IL310673A IL310673A (en) 2021-08-31 2022-08-10 A hand-held observation device and a method for obtaining a three-dimensional point cloud
PCT/EP2022/072468 WO2023030846A1 (en) 2021-08-31 2022-08-10 Hand-held observation device and method for obtaining a 3d point cloud

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WO2001075396A1 (de) 2000-03-31 2001-10-11 Robert Bosch Gmbh Entfernungsmessgerät
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